//
// Created by grn on 10/31/18.
//

#ifndef VINS_POSE_LOCAL_PARAMETERIZATION_H
#define VINS_POSE_LOCAL_PARAMETERIZATION_H


#include <eigen3/Eigen/Dense>
#include <ceres/ceres.h>
#include "../utility/utility.h"

class PoseLocalParameterization : public ceres::LocalParameterization
{
    virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const;
    virtual bool ComputeJacobian(const double *x, double *jacobian) const;
    virtual int GlobalSize() const { return 7; };
    virtual int LocalSize() const { return 6; };
};


#endif //VINS_POSE_LOCAL_PARAMETERIZATION_H
